dynamicgraph::sot::FeatureGeneric Class Reference

Class that defines a generic implementation of the abstract interface for features. More...

#include <sot/core/feature-generic.hh>

Inheritance diagram for dynamicgraph::sot::FeatureGeneric:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
virtual void	display (std::ostream &os) const
	Display the information related to this generic implementation.
void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Output signals
	FeatureGeneric (const std::string &name)
	Default constructor.
virtual	~FeatureGeneric (void)
	Default destructor.
virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Get the dimension of the feature.
Methods to trigger computation related to this feature.
virtual ml::Vector &	computeError (ml::Vector &res, int time)
	Compute the error between the desired value and the value itself.
virtual ml::Matrix &	computeJacobian (ml::Matrix &res, int time)
	Compute the Jacobian of the value according to the robot state..
Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (FeatureGeneric)
Public Attributes
Input signals
dg::SignalPtr< ml::Vector, int >	errorSIN
	Input for the error.
dg::SignalPtr< ml::Matrix, int >	jacobianSIN
	Input for the Jacobian.
Static Public Attributes
static const std::string	CLASS_NAME
Protected Attributes
unsigned int	dimensionDefault

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Detailed Description

Class that defines a generic implementation of the abstract interface for features.

This class is very useful if the feature can be easily computed using the basic operator provided. For instance a free space controller on a end-effector is basically directly computed from the Jacobian provided by dyn and some appropriate addition and soustraction. Instead of building a specific feature for this, it is possible to use the signals and plug the computed error, Jacobian and activation to the input of this generic feature implementation.

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Constructor & Destructor Documentation

dynamicgraph::sot::FeatureGeneric::FeatureGeneric

(

const std::string &

name

)

Default constructor.

virtual dynamicgraph::sot::FeatureGeneric::~FeatureGeneric

(

void

)

[inline, virtual]

Default destructor.

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Member Function Documentation

void dynamicgraph::sot::FeatureGeneric::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[virtual]

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeatureTask.

virtual ml::Vector& dynamicgraph::sot::FeatureGeneric::computeError	(	ml::Vector &	res,
		int	time
	)		[virtual]

Compute the error between the desired value and the value itself.

Implements dynamicgraph::sot::FeatureAbstract.

virtual ml::Matrix& dynamicgraph::sot::FeatureGeneric::computeJacobian	(	ml::Matrix &	res,
		int	time
	)		[virtual]

Compute the Jacobian of the value according to the robot state..

Implements dynamicgraph::sot::FeatureAbstract.

dynamicgraph::sot::FeatureGeneric::DECLARE_REFERENCE_FUNCTIONS

(

FeatureGeneric

)

virtual void dynamicgraph::sot::FeatureGeneric::display

(

std::ostream &

os

)

const [virtual]

Display the information related to this generic implementation.

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeatureTask.

virtual const std::string& dynamicgraph::sot::FeatureGeneric::getClassName

(

void

)

const [inline, virtual]

Returns the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeatureTask.

virtual unsigned int& dynamicgraph::sot::FeatureGeneric::getDimension	(	unsigned int &	dim,
		int	time
	)		[virtual]

Get the dimension of the feature.

Implements dynamicgraph::sot::FeatureAbstract.

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Member Data Documentation

const std::string dynamicgraph::sot::FeatureGeneric::CLASS_NAME [static]

Field storing the class name.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeatureTask.

unsigned int dynamicgraph::sot::FeatureGeneric::dimensionDefault [protected]

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureGeneric::errorSIN

Input for the error.

dg::SignalPtr< ml::Matrix,int > dynamicgraph::sot::FeatureGeneric::jacobianSIN

Input for the Jacobian.